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As the key point of full-waveform inversion (FWI), numerical solution of wave equation is required to simulate the forward propagated and adjoint wavefield. When traditional regular grids are used for forward modelling, scattering artifacts may occur due to the stepped approximation of layer interfaces and rugged topography. Unstructured mesh or irregular grids method can achieve certain geometric flexibility, however, its algorithm is quite complex. Mesh-free FWI can effectively reduce the scattered artifacts under regular grids and avoid the extra computation in the process of irregular grids generation. For the implementation of mesh-free FWI method, an algorithm with fast generation of node distributions is used to discretize the velocity model, radial-basis function generated finite difference is used to realise seismic wave propagation numerical simulation, and Limited-memory BFGS (L-BFGS) algorithm is used for iteration. The mesh-free FWI method we proposed achieves flexibility of simulation region and abundant wavefield information. It reduces the storage required for FWI and illustrates the applicability of high-precision reconstruction of underground velocity in the case of rugged topography, which can provide more accurate velocity information for oil and gas exploration under complex geological conditions.